jadechoghari HF Staff commited on
Commit
33c938f
·
verified ·
1 Parent(s): 343717d

Add files using upload-large-folder tool

Browse files
Files changed (50) hide show
  1. annotations/episode_00000005.json +171 -0
  2. annotations/episode_00000009.json +200 -0
  3. annotations/episode_00000013.json +171 -0
  4. annotations/episode_00000014.json +171 -0
  5. annotations/episode_00000018.json +200 -0
  6. annotations/episode_00000022.json +171 -0
  7. annotations/episode_00000026.json +171 -0
  8. annotations/episode_00000043.json +171 -0
  9. annotations/episode_00000045.json +200 -0
  10. annotations/episode_00000051.json +200 -0
  11. annotations/episode_00000053.json +171 -0
  12. annotations/episode_00000062.json +171 -0
  13. annotations/episode_00000067.json +200 -0
  14. annotations/episode_00000076.json +200 -0
  15. annotations/episode_00000080.json +200 -0
  16. annotations/episode_00000082.json +200 -0
  17. annotations/episode_00000085.json +171 -0
  18. annotations/episode_00000090.json +171 -0
  19. annotations/episode_00000091.json +171 -0
  20. annotations/episode_00000111.json +171 -0
  21. annotations/episode_00000113.json +200 -0
  22. annotations/episode_00000125.json +200 -0
  23. annotations/episode_00000139.json +171 -0
  24. annotations/episode_00000147.json +200 -0
  25. annotations/episode_00000168.json +200 -0
  26. annotations/episode_00000169.json +233 -0
  27. annotations/episode_00000183.json +171 -0
  28. annotations/episode_00000188.json +200 -0
  29. annotations/episode_00000213.json +171 -0
  30. annotations/episode_00000230.json +200 -0
  31. annotations/episode_00000244.json +171 -0
  32. annotations/episode_00000245.json +200 -0
  33. annotations/episode_00000246.json +171 -0
  34. annotations/episode_00000271.json +171 -0
  35. annotations/episode_00000272.json +171 -0
  36. annotations/episode_00000274.json +171 -0
  37. annotations/episode_00000294.json +200 -0
  38. annotations/episode_00000297.json +200 -0
  39. annotations/episode_00000298.json +200 -0
  40. annotations/episode_00000299.json +171 -0
  41. meta/sim/episode_00000019.json +0 -0
  42. meta/sim/episode_00000023.json +0 -0
  43. meta/sim/episode_00000063.json +0 -0
  44. meta/sim/episode_00000089.json +0 -0
  45. meta/sim/episode_00000090.json +0 -0
  46. meta/sim/episode_00000151.json +0 -0
  47. meta/sim/episode_00000155.json +0 -0
  48. meta/sim/episode_00000171.json +0 -0
  49. meta/sim/episode_00000204.json +0 -0
  50. meta/sim/episode_00000285.json +0 -0
annotations/episode_00000005.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2538,
6
+ "valid_duration": [
7
+ 0,
8
+ 2538
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 660
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 660,
56
+ 1452
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1453,
80
+ 2000
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2001,
107
+ 2538
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1452
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1453,
163
+ 2538
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000009.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2588,
6
+ "valid_duration": [
7
+ 0,
8
+ 2588
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 575
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 575,
56
+ 979
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 980,
84
+ 1212
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1212,
108
+ 1822
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1826,
135
+ 2588
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 979
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 980,
191
+ 2588
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000013.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2283,
6
+ "valid_duration": [
7
+ 36,
8
+ 2319
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 359
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 360,
56
+ 890
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 891,
80
+ 1032
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1032,
107
+ 2319
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 36,
136
+ 890
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 891,
163
+ 2319
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000014.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2058,
6
+ "valid_duration": [
7
+ 25,
8
+ 2083
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 25,
29
+ 478
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 478,
56
+ 948
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1109,
80
+ 1250
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1250,
107
+ 2083
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 25,
136
+ 948
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1109,
163
+ 2083
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000018.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2295,
6
+ "valid_duration": [
7
+ 60,
8
+ 2355
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 358
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 358,
56
+ 759
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 760,
84
+ 1057
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1057,
108
+ 1561
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1561,
135
+ 2355
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 60,
164
+ 759
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 760,
191
+ 2355
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000022.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1970,
6
+ "valid_duration": [
7
+ 40,
8
+ 2010
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 40,
29
+ 163
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 163,
56
+ 771
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 957,
80
+ 1209
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1210,
107
+ 2010
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 40,
136
+ 771
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 957,
163
+ 2010
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000026.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1478,
6
+ "valid_duration": [
7
+ 0,
8
+ 1478
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 164
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 164,
56
+ 660
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 660,
80
+ 847
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 848,
107
+ 1478
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 660
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 660,
163
+ 1478
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000043.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1710,
6
+ "valid_duration": [
7
+ 60,
8
+ 1770
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 250
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 255,
56
+ 893
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 899,
80
+ 1016
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1016,
107
+ 1770
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 60,
136
+ 893
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 899,
163
+ 1770
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000045.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2463,
6
+ "valid_duration": [
7
+ 31,
8
+ 2494
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 31,
29
+ 685
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 687,
56
+ 1066
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1066,
84
+ 1494
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1500,
108
+ 2091
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2091,
135
+ 2494
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 31,
164
+ 1066
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1066,
191
+ 2494
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000051.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2094,
6
+ "valid_duration": [
7
+ 0,
8
+ 2094
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 230
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 230,
56
+ 559
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 563,
84
+ 1055
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1168,
108
+ 1462
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1462,
135
+ 2094
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 559
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 563,
191
+ 2094
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000053.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2088,
6
+ "valid_duration": [
7
+ 0,
8
+ 2088
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 216
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 216,
56
+ 1024
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1024,
80
+ 1323
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1323,
107
+ 2088
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1024
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1024,
163
+ 2088
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000062.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1566,
6
+ "valid_duration": [
7
+ 0,
8
+ 1566
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 205
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 206,
56
+ 579
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 580,
80
+ 1085
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1086,
107
+ 1566
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 579
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 580,
163
+ 1566
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000067.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2670,
6
+ "valid_duration": [
7
+ 0,
8
+ 2670
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 703
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 705,
56
+ 1200
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1200,
84
+ 1727
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1727,
108
+ 2135
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2135,
135
+ 2670
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 1200
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1200,
191
+ 2670
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000076.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2263,
6
+ "valid_duration": [
7
+ 47,
8
+ 2310
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 47,
29
+ 663
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 663,
56
+ 1043
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1043,
84
+ 1323
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1512,
108
+ 1861
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1861,
135
+ 2310
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 47,
164
+ 1043
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1043,
191
+ 2310
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000080.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1561,
6
+ "valid_duration": [
7
+ 38,
8
+ 1599
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 38,
29
+ 90
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 91,
56
+ 401
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 401,
84
+ 722
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 722,
108
+ 1167
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1168,
135
+ 1599
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 38,
164
+ 401
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 401,
191
+ 1599
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000082.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2220,
6
+ "valid_duration": [
7
+ 0,
8
+ 2220
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 288
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 288,
56
+ 657
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 657,
84
+ 1206
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1207,
108
+ 1630
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1632,
135
+ 2220
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 657
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 657,
191
+ 2220
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000085.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1830,
6
+ "valid_duration": [
7
+ 0,
8
+ 1830
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 267
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 267,
56
+ 885
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 885,
80
+ 1203
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1204,
107
+ 1830
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 885
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 885,
163
+ 1830
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000090.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1770,
6
+ "valid_duration": [
7
+ 30,
8
+ 1800
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 235
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 236,
56
+ 893
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 893,
80
+ 1250
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1250,
107
+ 1800
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 30,
136
+ 893
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 893,
163
+ 1800
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000091.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1680,
6
+ "valid_duration": [
7
+ 0,
8
+ 1680
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 510
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 510,
56
+ 789
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 789,
80
+ 1245
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1248,
107
+ 1680
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 789
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 789,
163
+ 1680
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000111.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2336,
6
+ "valid_duration": [
7
+ 28,
8
+ 2364
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 28,
29
+ 694
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 695,
56
+ 1514
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1573,
80
+ 1672
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1672,
107
+ 2364
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 28,
136
+ 1514
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1573,
163
+ 2364
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000113.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2844,
6
+ "valid_duration": [
7
+ 31,
8
+ 2875
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 31,
29
+ 460
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 460,
56
+ 889
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 903,
84
+ 1331
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1332,
108
+ 1891
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1891,
135
+ 2875
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 31,
164
+ 889
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 903,
191
+ 2875
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000125.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3897,
6
+ "valid_duration": [
7
+ 36,
8
+ 3933
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 664
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 665,
56
+ 2087
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 2087,
84
+ 2764
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 2764,
108
+ 3030
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 3030,
135
+ 3933
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 36,
164
+ 2087
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 2087,
191
+ 3933
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000139.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2174,
6
+ "valid_duration": [
7
+ 46,
8
+ 2220
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 46,
29
+ 690
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 690,
56
+ 1316
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1317,
80
+ 1562
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1562,
107
+ 2220
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 46,
136
+ 1316
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1317,
163
+ 2220
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000147.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2741,
6
+ "valid_duration": [
7
+ 36,
8
+ 2777
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 36,
29
+ 332
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 332,
56
+ 794
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 794,
84
+ 1262
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1263,
108
+ 1855
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1855,
135
+ 2777
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 36,
164
+ 794
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 794,
191
+ 2777
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000168.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3263,
6
+ "valid_duration": [
7
+ 23,
8
+ 3286
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 23,
29
+ 735
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 735,
56
+ 1025
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1027,
84
+ 1351
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1352,
108
+ 1899
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1899,
135
+ 3286
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 23,
164
+ 1025
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1027,
191
+ 3286
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000169.json ADDED
@@ -0,0 +1,233 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 3930,
6
+ "valid_duration": [
7
+ 0,
8
+ 3930
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 783
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 90
40
+ ],
41
+ "skill_description": [
42
+ "push to"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [
54
+ [
55
+ "",
56
+ "to_the_edge_of"
57
+ ]
58
+ ],
59
+ "frame_duration": [
60
+ 783,
61
+ 1224
62
+ ],
63
+ "mp_ef": [],
64
+ "skill_type": [
65
+ "uncoordinated"
66
+ ]
67
+ },
68
+ {
69
+ "skill_idx": 2,
70
+ "skill_id": [
71
+ 2
72
+ ],
73
+ "skill_description": [
74
+ "pick up from"
75
+ ],
76
+ "object_id": [
77
+ [
78
+ "poster_73",
79
+ "bar_egwapq_0"
80
+ ]
81
+ ],
82
+ "manipulating_object_id": [
83
+ "poster_73"
84
+ ],
85
+ "spatial_prefix": [],
86
+ "frame_duration": [
87
+ 1224,
88
+ 1740
89
+ ],
90
+ "mp_ef": [],
91
+ "skill_type": [
92
+ "uncoordinated"
93
+ ]
94
+ },
95
+ {
96
+ "skill_idx": 3,
97
+ "skill_id": [
98
+ 5
99
+ ],
100
+ "skill_description": [
101
+ "hand over"
102
+ ],
103
+ "object_id": [
104
+ [
105
+ "poster_73",
106
+ "left",
107
+ "right"
108
+ ]
109
+ ],
110
+ "manipulating_object_id": [
111
+ "poster_73"
112
+ ],
113
+ "spatial_prefix": [],
114
+ "frame_duration": [
115
+ 1741,
116
+ 2482
117
+ ],
118
+ "mp_ef": [],
119
+ "skill_type": [
120
+ "coordinated"
121
+ ]
122
+ },
123
+ {
124
+ "skill_idx": 4,
125
+ "skill_id": [
126
+ 1
127
+ ],
128
+ "skill_description": [
129
+ "move to"
130
+ ],
131
+ "object_id": [
132
+ [
133
+ "wall_nail_wlnail_1"
134
+ ]
135
+ ],
136
+ "manipulating_object_id": [],
137
+ "spatial_prefix": [],
138
+ "frame_duration": [
139
+ 2632,
140
+ 2992
141
+ ],
142
+ "mp_ef": [],
143
+ "skill_type": [
144
+ "navigation"
145
+ ]
146
+ },
147
+ {
148
+ "skill_idx": 5,
149
+ "skill_id": [
150
+ 61
151
+ ],
152
+ "skill_description": [
153
+ "hang"
154
+ ],
155
+ "object_id": [
156
+ [
157
+ "poster_73",
158
+ "wall_nail_wlnail_1"
159
+ ]
160
+ ],
161
+ "manipulating_object_id": [
162
+ "poster_73"
163
+ ],
164
+ "spatial_prefix": [],
165
+ "frame_duration": [
166
+ 2992,
167
+ 3930
168
+ ],
169
+ "mp_ef": [],
170
+ "skill_type": [
171
+ "uncoordinated"
172
+ ]
173
+ }
174
+ ],
175
+ "primitive_annotation": [
176
+ {
177
+ "primitive_idx": 0,
178
+ "primitive_id": [
179
+ 2
180
+ ],
181
+ "primitive_description": [
182
+ "pick up from"
183
+ ],
184
+ "object_id": [
185
+ [
186
+ "poster_73",
187
+ "bar_egwapq_0"
188
+ ]
189
+ ],
190
+ "manipulating_object_id": [
191
+ "poster_73"
192
+ ],
193
+ "spatial_prefix": [],
194
+ "frame_duration": [
195
+ 0,
196
+ 1740
197
+ ],
198
+ "skill_idxes": [
199
+ 0,
200
+ 1,
201
+ 2
202
+ ]
203
+ },
204
+ {
205
+ "primitive_idx": 1,
206
+ "primitive_id": [
207
+ 61
208
+ ],
209
+ "primitive_description": [
210
+ "hang"
211
+ ],
212
+ "object_id": [
213
+ [
214
+ "poster_73",
215
+ "wall_nail_wlnail_1"
216
+ ]
217
+ ],
218
+ "manipulating_object_id": [
219
+ "poster_73"
220
+ ],
221
+ "spatial_prefix": [],
222
+ "frame_duration": [
223
+ 1741,
224
+ 3930
225
+ ],
226
+ "skill_idxes": [
227
+ 3,
228
+ 4,
229
+ 5
230
+ ]
231
+ }
232
+ ]
233
+ }
annotations/episode_00000183.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2490,
6
+ "valid_duration": [
7
+ 0,
8
+ 2490
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 810
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 813,
56
+ 1329
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1329,
80
+ 1578
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1578,
107
+ 2490
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1329
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1329,
163
+ 2490
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000188.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2792,
6
+ "valid_duration": [
7
+ 58,
8
+ 2850
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 58,
29
+ 672
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 674,
56
+ 1036
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 1038,
84
+ 1816
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1816,
108
+ 2007
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 2007,
135
+ 2850
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 58,
164
+ 1036
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 1038,
191
+ 2850
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000213.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2160,
6
+ "valid_duration": [
7
+ 0,
8
+ 2160
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 399
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 400,
56
+ 629
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 629,
80
+ 1079
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1079,
107
+ 2160
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 629
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 629,
163
+ 2160
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000230.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2195,
6
+ "valid_duration": [
7
+ 60,
8
+ 2255
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 60,
29
+ 432
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 432,
56
+ 783
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 783,
84
+ 1040
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1040,
108
+ 1570
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1572,
135
+ 2255
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 60,
164
+ 783
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 783,
191
+ 2255
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000244.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1530,
6
+ "valid_duration": [
7
+ 0,
8
+ 1530
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 339
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 339,
56
+ 783
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 783,
80
+ 999
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1000,
107
+ 1530
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 783
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 783,
163
+ 1530
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000245.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1800,
6
+ "valid_duration": [
7
+ 0,
8
+ 1800
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 281
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 282,
56
+ 485
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 485,
84
+ 995
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 995,
108
+ 1322
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1322,
135
+ 1800
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 485
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 485,
191
+ 1800
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000246.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1916,
6
+ "valid_duration": [
7
+ 0,
8
+ 1916
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 393
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 394,
56
+ 789
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 999,
80
+ 1298
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1298,
107
+ 1916
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 789
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 999,
163
+ 1916
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000271.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2051,
6
+ "valid_duration": [
7
+ 49,
8
+ 2100
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 49,
29
+ 351
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 351,
56
+ 1085
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1099,
80
+ 1407
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1408,
107
+ 2100
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 49,
136
+ 1085
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1099,
163
+ 2100
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000272.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1719,
6
+ "valid_duration": [
7
+ 0,
8
+ 1719
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 334
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 335,
56
+ 1102
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1104,
80
+ 1316
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1316,
107
+ 1719
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1102
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1104,
163
+ 1719
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000274.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2651,
6
+ "valid_duration": [
7
+ 49,
8
+ 2700
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 49,
29
+ 788
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 789,
56
+ 1650
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1650,
80
+ 2225
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 2225,
107
+ 2700
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 49,
136
+ 1650
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1650,
163
+ 2700
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
annotations/episode_00000294.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2203,
6
+ "valid_duration": [
7
+ 45,
8
+ 2248
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 45,
29
+ 340
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 341,
56
+ 856
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 858,
84
+ 1303
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1303,
108
+ 1734
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1734,
135
+ 2248
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 45,
164
+ 856
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 858,
191
+ 2248
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000297.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2130,
6
+ "valid_duration": [
7
+ 30,
8
+ 2160
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 30,
29
+ 707
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 707,
56
+ 950
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 950,
84
+ 1176
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1178,
108
+ 1580
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1580,
135
+ 2160
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 30,
164
+ 950
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 950,
191
+ 2160
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000298.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 2340,
6
+ "valid_duration": [
7
+ 0,
8
+ 2340
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 408
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 409,
56
+ 879
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 5
67
+ ],
68
+ "skill_description": [
69
+ "hand over"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "poster_73",
74
+ "left",
75
+ "right"
76
+ ]
77
+ ],
78
+ "manipulating_object_id": [
79
+ "poster_73"
80
+ ],
81
+ "spatial_prefix": [],
82
+ "frame_duration": [
83
+ 880,
84
+ 1576
85
+ ],
86
+ "mp_ef": [],
87
+ "skill_type": [
88
+ "coordinated"
89
+ ]
90
+ },
91
+ {
92
+ "skill_idx": 3,
93
+ "skill_id": [
94
+ 1
95
+ ],
96
+ "skill_description": [
97
+ "move to"
98
+ ],
99
+ "object_id": [
100
+ [
101
+ "wall_nail_wlnail_1"
102
+ ]
103
+ ],
104
+ "manipulating_object_id": [],
105
+ "spatial_prefix": [],
106
+ "frame_duration": [
107
+ 1576,
108
+ 1905
109
+ ],
110
+ "mp_ef": [],
111
+ "skill_type": [
112
+ "navigation"
113
+ ]
114
+ },
115
+ {
116
+ "skill_idx": 4,
117
+ "skill_id": [
118
+ 61
119
+ ],
120
+ "skill_description": [
121
+ "hang"
122
+ ],
123
+ "object_id": [
124
+ [
125
+ "poster_73",
126
+ "wall_nail_wlnail_1"
127
+ ]
128
+ ],
129
+ "manipulating_object_id": [
130
+ "poster_73"
131
+ ],
132
+ "spatial_prefix": [],
133
+ "frame_duration": [
134
+ 1906,
135
+ 2340
136
+ ],
137
+ "mp_ef": [],
138
+ "skill_type": [
139
+ "uncoordinated"
140
+ ]
141
+ }
142
+ ],
143
+ "primitive_annotation": [
144
+ {
145
+ "primitive_idx": 0,
146
+ "primitive_id": [
147
+ 2
148
+ ],
149
+ "primitive_description": [
150
+ "pick up from"
151
+ ],
152
+ "object_id": [
153
+ [
154
+ "poster_73",
155
+ "bar_egwapq_0"
156
+ ]
157
+ ],
158
+ "manipulating_object_id": [
159
+ "poster_73"
160
+ ],
161
+ "spatial_prefix": [],
162
+ "frame_duration": [
163
+ 0,
164
+ 879
165
+ ],
166
+ "skill_idxes": [
167
+ 0,
168
+ 1
169
+ ]
170
+ },
171
+ {
172
+ "primitive_idx": 1,
173
+ "primitive_id": [
174
+ 61
175
+ ],
176
+ "primitive_description": [
177
+ "hang"
178
+ ],
179
+ "object_id": [
180
+ [
181
+ "poster_73",
182
+ "wall_nail_wlnail_1"
183
+ ]
184
+ ],
185
+ "manipulating_object_id": [
186
+ "poster_73"
187
+ ],
188
+ "spatial_prefix": [],
189
+ "frame_duration": [
190
+ 880,
191
+ 2340
192
+ ],
193
+ "skill_idxes": [
194
+ 2,
195
+ 3,
196
+ 4
197
+ ]
198
+ }
199
+ ]
200
+ }
annotations/episode_00000299.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "task_name": "hanging pictures",
3
+ "data_folder": "",
4
+ "meta_data": {
5
+ "task_duration": 1769,
6
+ "valid_duration": [
7
+ 0,
8
+ 1769
9
+ ]
10
+ },
11
+ "skill_annotation": [
12
+ {
13
+ "skill_idx": 0,
14
+ "skill_id": [
15
+ 1
16
+ ],
17
+ "skill_description": [
18
+ "move to"
19
+ ],
20
+ "object_id": [
21
+ [
22
+ "poster_73"
23
+ ]
24
+ ],
25
+ "manipulating_object_id": [],
26
+ "spatial_prefix": [],
27
+ "frame_duration": [
28
+ 0,
29
+ 450
30
+ ],
31
+ "mp_ef": [],
32
+ "skill_type": [
33
+ "navigation"
34
+ ]
35
+ },
36
+ {
37
+ "skill_idx": 1,
38
+ "skill_id": [
39
+ 2
40
+ ],
41
+ "skill_description": [
42
+ "pick up from"
43
+ ],
44
+ "object_id": [
45
+ [
46
+ "poster_73",
47
+ "bar_egwapq_0"
48
+ ]
49
+ ],
50
+ "manipulating_object_id": [
51
+ "poster_73"
52
+ ],
53
+ "spatial_prefix": [],
54
+ "frame_duration": [
55
+ 450,
56
+ 1095
57
+ ],
58
+ "mp_ef": [],
59
+ "skill_type": [
60
+ "uncoordinated"
61
+ ]
62
+ },
63
+ {
64
+ "skill_idx": 2,
65
+ "skill_id": [
66
+ 1
67
+ ],
68
+ "skill_description": [
69
+ "move to"
70
+ ],
71
+ "object_id": [
72
+ [
73
+ "wall_nail_wlnail_1"
74
+ ]
75
+ ],
76
+ "manipulating_object_id": [],
77
+ "spatial_prefix": [],
78
+ "frame_duration": [
79
+ 1102,
80
+ 1221
81
+ ],
82
+ "mp_ef": [],
83
+ "skill_type": [
84
+ "navigation"
85
+ ]
86
+ },
87
+ {
88
+ "skill_idx": 3,
89
+ "skill_id": [
90
+ 61
91
+ ],
92
+ "skill_description": [
93
+ "hang"
94
+ ],
95
+ "object_id": [
96
+ [
97
+ "poster_73",
98
+ "wall_nail_wlnail_1"
99
+ ]
100
+ ],
101
+ "manipulating_object_id": [
102
+ "poster_73"
103
+ ],
104
+ "spatial_prefix": [],
105
+ "frame_duration": [
106
+ 1227,
107
+ 1769
108
+ ],
109
+ "mp_ef": [],
110
+ "skill_type": [
111
+ "uncoordinated"
112
+ ]
113
+ }
114
+ ],
115
+ "primitive_annotation": [
116
+ {
117
+ "primitive_idx": 0,
118
+ "primitive_id": [
119
+ 2
120
+ ],
121
+ "primitive_description": [
122
+ "pick up from"
123
+ ],
124
+ "object_id": [
125
+ [
126
+ "poster_73",
127
+ "bar_egwapq_0"
128
+ ]
129
+ ],
130
+ "manipulating_object_id": [
131
+ "poster_73"
132
+ ],
133
+ "spatial_prefix": [],
134
+ "frame_duration": [
135
+ 0,
136
+ 1095
137
+ ],
138
+ "skill_idxes": [
139
+ 0,
140
+ 1
141
+ ]
142
+ },
143
+ {
144
+ "primitive_idx": 1,
145
+ "primitive_id": [
146
+ 61
147
+ ],
148
+ "primitive_description": [
149
+ "hang"
150
+ ],
151
+ "object_id": [
152
+ [
153
+ "poster_73",
154
+ "wall_nail_wlnail_1"
155
+ ]
156
+ ],
157
+ "manipulating_object_id": [
158
+ "poster_73"
159
+ ],
160
+ "spatial_prefix": [],
161
+ "frame_duration": [
162
+ 1102,
163
+ 1769
164
+ ],
165
+ "skill_idxes": [
166
+ 2,
167
+ 3
168
+ ]
169
+ }
170
+ ]
171
+ }
meta/sim/episode_00000019.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000023.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000063.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000089.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000090.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000151.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000155.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000171.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000204.json ADDED
The diff for this file is too large to render. See raw diff
 
meta/sim/episode_00000285.json ADDED
The diff for this file is too large to render. See raw diff